One of the first deployments of the *SGM algorithm on a conventional CPU was done by [1]}. They have implemented a number of different parallelization techniques, among others splitting the eight path optimization scheme into two independent scans. With this, they achieve 14 FPS on images with a size of 640\(\times \) 320 pixels, but they only considered a range of 16 disparities. They have deployed their algorithm on an Intel Core i7 with four cores and a clock frequency of 3.3 GHz. A few years later, [2]} have achieved 16 FPS on VGA resolution and 128 disparities, also running their implementation on a conventional Intel Core i7 with four cores. Apart from a number of algorithmic optimizations, e.g. disparity space compression and striped computation, they have parallelized the processing by utilizing *SIMD vectorization with the *SSE instruction set from Intel, combined with multi-threading.
